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AP_Camera: Adding ability to control the Black Magic Micro Cinema Camera

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via SBUS from the flight controller directly.  Handles the flipping of
certain channels.  Relies on change to SRV_Channel to add additional functions.
This commit is contained in:
ChrisBird 2018-10-03 17:26:34 -07:00 committed by Andrew Tridgell
parent a2c7d124cb
commit d8281f3171
2 changed files with 82 additions and 26 deletions
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79
libraries/AP_Camera/AP_Camera.cpp
View File

@ -77,7 +77,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Units: deg
// @Range: 0 180
AP_GROUPINFO("MAX_ROLL", 7, AP_Camera, _max_roll, 0),
// @Param: FEEDBACK_PIN
// @DisplayName: Camera feedback pin
// @Description: pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond.
@ -92,7 +92,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Values: 0:TriggerLow,1:TriggerHigh
// @User: Standard
AP_GROUPINFO("FEEDBACK_POL", 9, AP_Camera, _feedback_polarity, 1),
// @Param: AUTO_ONLY
// @DisplayName: Distance-trigging in AUTO mode only
// @Description: When enabled, trigging by distance is done in AUTO mode only.
@ -100,6 +100,13 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @User: Standard
AP_GROUPINFO("AUTO_ONLY", 10, AP_Camera, _auto_mode_only, 0),
// @Param: TYPE
// @DisplayName: Type of camera (0: None, 1: BMMCC)
// @Description: Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.
// @Values: 0:Default,1:BMMCC
// @User: Standard
AP_GROUPINFO("TYPE", 11, AP_Camera, _type, 0),
AP_GROUPEND
};
@ -114,10 +121,10 @@ volatile bool AP_Camera::_camera_triggered;
void
AP_Camera::servo_pic()
{
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_on_pwm);
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_on_pwm);
// leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain_int16(_trigger_duration*5,0,255);
// leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain_int16(_trigger_duration*5,0,255);
}
/// basic relay activation
@ -141,8 +148,7 @@ void AP_Camera::trigger_pic()
setup_feedback_callback();
_image_index++;
switch (_trigger_type)
{
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
servo_pic(); // Servo operated camera
break;
@ -163,16 +169,26 @@ AP_Camera::trigger_pic_cleanup()
_trigger_counter--;
} else {
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
if (_relay_on) {
_apm_relay->off(0);
} else {
_apm_relay->on(0);
}
break;
case AP_CAMERA_TRIGGER_TYPE_SERVO:
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
if (_relay_on) {
_apm_relay->off(0);
} else {
_apm_relay->on(0);
}
break;
}
}
if (_trigger_counter_cam_function) {
_trigger_counter_cam_function--;
} else {
switch (_type) {
case AP_Camera::CAMERA_TYPE_BMMCC:
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_iso, _servo_off_pwm);
break;
}
}
}
@ -210,6 +226,29 @@ void AP_Camera::configure(float shooting_mode, float shutter_speed, float apertu
// send to all components
GCS_MAVLINK::send_to_components(&msg);
if (_type == AP_Camera::CAMERA_TYPE_BMMCC) {
// Set a trigger for the additional functions that are flip controlled (so far just ISO and Record Start / Stop use this method, will add others if required)
_trigger_counter_cam_function = constrain_int16(_trigger_duration*5,0,255);
// If the message contains non zero values then use them for the below functions
if (ISO > 0) {
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_iso, _servo_on_pwm);
}
if (aperture > 0) {
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_aperture, (int)aperture);
}
if (shutter_speed > 0) {
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_shutter_speed, (int)shutter_speed);
}
// Use the shooting mode PWM value for the BMMCC as the focus control - no need to modify or create a new MAVlink message type.
if (shooting_mode > 0) {
SRV_Channels::set_output_pwm(SRV_Channel::k_cam_focus, (int)shooting_mode);
}
}
}
void AP_Camera::control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id)
@ -293,7 +332,7 @@ void AP_Camera::update()
}
if (_is_in_auto_mode != true && _auto_mode_only != 0) {
return;
return;
}
uint32_t tnow = AP_HAL::millis();
@ -340,7 +379,7 @@ bool AP_Camera::check_feedback_pin(void)
void AP_Camera::capture_callback(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
_camera_triggered = true;
_camera_triggered = true;
}
#endif
@ -366,7 +405,7 @@ void AP_Camera::setup_feedback_callback(void)
gcs().send_text(MAV_SEVERITY_WARNING, "Camera: unable to setup 3PWM1CAP");
close(fd);
goto failed;
}
}
if (up_input_capture_set(3, _feedback_polarity==1?Rising:Falling, 0, capture_callback, this) != 0) {
gcs().send_text(MAV_SEVERITY_WARNING, "Camera: unable to setup timer capture");
close(fd);

29
libraries/AP_Camera/AP_Camera.h
View File

@ -46,7 +46,8 @@ public:
AP_Camera &operator=(const AP_Camera&) = delete;
// get singleton instance
static AP_Camera *get_singleton() {
static AP_Camera *get_singleton()
{
return _singleton;
}
@ -60,7 +61,10 @@ public:
void control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id);
// set camera trigger distance in a mission
void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); }
void set_trigger_distance(uint32_t distance_m)
{
_trigg_dist.set(distance_m);
}
void take_picture();
@ -73,7 +77,15 @@ public:
static const struct AP_Param::GroupInfo var_info[];
// set if vehicle is in AUTO mode
void set_is_auto_mode(bool enable) { _is_in_auto_mode = enable; }
void set_is_auto_mode(bool enable)
{
_is_in_auto_mode = enable;
}
enum camera_types {
CAMERA_TYPE_STD,
CAMERA_TYPE_BMMCC
};
private:
@ -85,8 +97,10 @@ private:
AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
uint8_t _trigger_counter; // count of number of cycles shutter has been held open
uint8_t _trigger_counter_cam_function; // count of number of cycles alternative camera function has been held open
AP_Relay *_apm_relay; // pointer to relay object from the base class Relay.
AP_Int8 _auto_mode_only; // if 1: trigger by distance only if in AUTO mode.
AP_Int8 _type; // Set the type of camera in use, will open additional parameters if set
bool _is_in_auto_mode; // true if in AUTO mode
void servo_pic(); // Servo operated camera
@ -97,7 +111,7 @@ private:
static void capture_callback(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
#endif
AP_Float _trigg_dist; // distance between trigger points (meters)
AP_Int16 _min_interval; // Minimum time between shots required by camera
AP_Int16 _max_roll; // Maximum acceptable roll angle when trigging camera
@ -132,10 +146,13 @@ private:
bool check_feedback_pin(void);
// return true if we are using a feedback pin
bool using_feedback_pin(void) const { return _feedback_pin > 0; }
bool using_feedback_pin(void) const
{
return _feedback_pin > 0;
}
};
namespace AP {
AP_Camera *camera();
AP_Camera *camera();
};